cmake_minimum_required(VERSION 3.5.1)
project(quickmcl)

## Compile as C++14, wish we could do 17.
set(CMAKE_CXX_STANDARD 14)

# Because this is used in two places, just create a single variable with the
# catkin dependencies here.
set(${PROJECT_NAME}_catkin_deps_private
    dynamic_reconfigure
    laser_geometry
    message_generation
    message_runtime
    pcl_conversions
    std_srvs
    tf2_eigen
    tf2_geometry_msgs
    tf2_ros
    visualization_msgs
)

set(${PROJECT_NAME}_catkin_deps_public
    geometry_msgs
    nav_msgs
    pcl_ros
    roscpp
    sensor_msgs
    tf2
)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  ${${PROJECT_NAME}_catkin_deps_private}
  ${${PROJECT_NAME}_catkin_deps_public}
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs#   nav_msgs#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
  cfg/QuickMCL.cfg
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
    ${${PROJECT_NAME}_catkin_deps_public}
  DEPENDS EIGEN3
)

## Uncomment to use gprof to profile
# add_compile_options(-pg)
# set(catkin_LIBRARIES ${catkin_LIBRARIES} -pg)

## Uncomment to use gcov to profile
# add_compile_options(--coverage)
# set(catkin_LIBRARIES ${catkin_LIBRARIES} --coverage)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
  include/quickmcl/config.h
  include/quickmcl/distance_calculator.h
  include/quickmcl/i_particle_filter.h
  include/quickmcl/laser.h
  include/quickmcl/low_pass_filter.h
  include/quickmcl/map.h
  include/quickmcl/map_base.h
  include/quickmcl/map_factory.h
  include/quickmcl/map_likelihood.h
  include/quickmcl/map_state.h
  include/quickmcl/map_types.h
  include/quickmcl/odometry.h
  include/quickmcl/parameters.h
  include/quickmcl/particle.h
  include/quickmcl/particle_filter.h
  include/quickmcl/particle_filter_factory.h
  include/quickmcl/pose_2d.h
  include/quickmcl/pose_restore.h
  include/quickmcl/random.h
  include/quickmcl/scaled_map.h
  include/quickmcl/space_partitioning.h
  include/quickmcl/statistics.h
  include/quickmcl/timer.h
  include/quickmcl/utils.h
  src/quickmcl/distance_calculator.cpp
  src/quickmcl/laser.cpp
  src/quickmcl/map_base.cpp
  src/quickmcl/map_factory.cpp
  src/quickmcl/map_likelihood.cpp
  src/quickmcl/odometry.cpp
  src/quickmcl/parameters.cpp
  src/quickmcl/particle.cpp
  src/quickmcl/particle_filter.cpp
  src/quickmcl/particle_filter_factory.cpp
  src/quickmcl/pose_2d.cpp
  src/quickmcl/pose_restore.cpp
  src/quickmcl/space_partitioning.cpp
  src/quickmcl/statistics.cpp
  src/quickmcl/timer.cpp
)

set(${PROJECT_NAME}_POSE_TYPE float CACHE STRING
    "Scalar data type for pose [float or double]")

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES})

target_compile_definitions(${PROJECT_NAME} PUBLIC
  QUICKMCL_POSE_TYPE=${${PROJECT_NAME}_POSE_TYPE})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node
  include/quickmcl_node/commands.h
  include/quickmcl_node/covariance_mappings.h
  include/quickmcl_node/laser_handler.h
  include/quickmcl_node/main.h
  include/quickmcl_node/parameter_manager.h
  include/quickmcl_node/publishing.h
  include/quickmcl_node/tf_reader.h
  src/quickmcl_node/commands.cpp
  src/quickmcl_node/laser_handler.cpp
  src/quickmcl_node/main.cpp
  src/quickmcl_node/parameter_manager.cpp
  src/quickmcl_node/publishing.cpp
  src/quickmcl_node/tf_reader.cpp
)

add_dependencies(${PROJECT_NAME}_node
  ${PROJECT_NAME}_gencfg
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
  ${PROJECT_NAME})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
  ${PROJECT_NAME})

target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
target_compile_options(${PROJECT_NAME}_node PRIVATE -Wall -Wextra)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
if(CATKIN_ENABLE_TESTING)
  catkin_add_gtest(${PROJECT_NAME}-test
    test/quickmcl/test_distance_calculator.cpp
    test/quickmcl/test_low_pass_filter.cpp
    test/quickmcl/test_particle.cpp
    test/quickmcl/test_pose_2d.cpp
    test/quickmcl/test_scaled_map.cpp
    test/quickmcl/test_statistics.cpp
    test/quickmcl/test_utils.cpp
    test/test_main.cpp
  )
  if (TARGET ${PROJECT_NAME}-test)
    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
  endif ()
endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
